mirror of https://github.com/ArduPilot/ardupilot
65 lines
1.4 KiB
C++
65 lines
1.4 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/I2CDevice.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include <Filter/Filter.h>
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#include "AP_Baro_Backend.h"
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#ifndef HAL_BARO_BMP085_I2C_ADDR
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#define HAL_BARO_BMP085_I2C_ADDR (0x77)
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#endif
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class AP_Baro_BMP085 : public AP_Baro_Backend {
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public:
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AP_Baro_BMP085(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
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/* AP_Baro public interface: */
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void update();
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static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
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private:
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bool _init();
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void _cmd_read_pressure();
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void _cmd_read_temp();
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bool _read_pressure();
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void _read_temp();
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void _calculate();
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bool _data_ready();
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void _timer(void);
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uint16_t _read_prom_word(uint8_t word);
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bool _read_prom(uint16_t *prom);
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AP_HAL::OwnPtr<AP_HAL::Device> _dev;
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AP_HAL::DigitalSource *_eoc;
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uint8_t _instance;
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bool _has_sample;
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// Boards with no EOC pin: use times instead
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uint32_t _last_press_read_command_time;
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uint32_t _last_temp_read_command_time;
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// State machine
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uint8_t _state;
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// Internal calibration registers
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int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
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uint16_t ac4, ac5, ac6;
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int32_t _raw_pressure;
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int32_t _raw_temp;
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int32_t _temp;
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AverageIntegralFilter<int32_t, int32_t, 10> _pressure_filter;
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uint8_t _vers;
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uint8_t _type;
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};
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